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Error when running launch file Marker.launch

asked 2017-03-26 22:10:25 -0500

deokisys gravatar image

updated 2021-04-24 02:52:19 -0500

I study book Programming Robots with ROS Morgan Quigley, Brian Gerkey & William D. Smart I try launch file in chapter14 stuckroom_bot markers.launch in this chapter14 robot is fetchbot, ros version is indigo

markers.launch <launch> <arg name="marker_size" default="12.3"/> <arg name="max_new_marker_error" default="0.2"/> <arg name="max_track_error" default="0.8"/> <arg name="cam_image_topic" default="/head_camera/rgb/image_raw"/> <arg name="cam_info_topic" default="/head_camera/rgb/camera_info"/> <arg name="output_frame" default="/base_link"/> <node name="ar_track_alvar" pkg="ar_track_alvar" type="individualMarkersNoKinect" respawn="false" output="screen" args="$(arg marker_size) $(arg max_new_marker_error) $(arg max_track_error) $(arg cam_image_topic) $(arg cam_info_topic) $(arg output_frame)"/> <arg name="tag_rot" default="0 0 0 0 0 -1.57"> <arg name="tag_trans" default="0 -0.28 -0.1 0 0 0">

<node pkg="tf" type="static_transform_publisher" name="ar_0_up" args="$(arg tag_rot) ar_marker_0 ar_0_up 100"/> <node pkg="tf" type="static_transform_publisher" name="ar_1_up" args="$(arg tag_rot) ar_marker_1 ar_1_up 100"/> <node pkg="tf" type="static_transform_publisher" name="ar_2_up" args="$(arg tag_rot) ar_marker_2 ar_2_up 100"/> <node pkg="tf" type="static_transform_publisher" name="ar_3_up" args="$(arg tag_rot) ar_marker_3 ar_3_up 100"/> <node pkg="tf" type="static_transform_publisher" name="ar_4_up" args="$(arg tag_rot) ar_marker_4 ar_4_up 100"/> <node pkg="tf" type="static_transform_publisher" name="ar_5_up" args="$(arg tag_rot) ar_marker_5 ar_5_up 100"/> <node pkg="tf" type="static_transform_publisher" name="ar_6_up" args="$(arg tag_rot) ar_marker_6 ar_6_up 100"/> <node pkg="tf" type="static_transform_publisher" name="ar_7_up" args="$(arg tag_rot) ar_marker_7 ar_7_up 100"/> <node pkg="tf" type="static_transform_publisher" name="ar_8_up" args="$(arg tag_rot) ar_marker_8 ar_8_up 100"/> <node pkg="tf" type="static_transform_publisher" name="ar_9_up" args="$(arg tag_rot) ar_marker_9 ar_9_up 100"/> <node pkg="tf" type="static_transform_publisher" name="ar_10_up" args="$(arg tag_rot) ar_marker_10 ar_10_up 100"/> <node pkg="tf" type="static_transform_publisher" name="ar_11_up" args="$(arg tag_rot) ar_marker_11 ar_11_up 100"/>

<node pkg="tf" type="static_transform_publisher" name="item_0" args="$(arg tag_trans) ar_0_up item_0 100"/> <node pkg="tf" type="static_transform_publisher" name="item_1" args="$(arg tag_trans) ar_1_up item_1 100"/> <node pkg="tf" type="static_transform_publisher" name="item_2" args="$(arg tag_trans) ar_2_up item_2 100"/> <node pkg="tf" type="static_transform_publisher" name="item_3" args="$(arg tag_trans) ar_3_up item_3 100"/> <node pkg="tf" type="static_transform_publisher" name="item_4" args="$(arg tag_trans) ar_4_up item_4 100"/> <node pkg="tf" type="static_transform_publisher" name="item_5" args="$(arg tag_trans) ar_5_up item_5 100"/> <node pkg="tf" type="static_transform_publisher" name="item_6" args="$(arg tag_trans) ar_6_up item_6 100"/> <node pkg="tf" type="static_transform_publisher" name="item_7" args="$(arg tag_trans) ar_7_up item_7 100"/> <node pkg="tf" type="static_transform_publisher" name="item_8" args="$(arg tag_trans) ar_8_up item_8 100"/> <node pkg="tf" type="static_transform_publisher" name="item_9" args="$(arg tag_trans) ar_9_up item_9 100"/> <node pkg="tf" type="static_transform_publisher" name="item_10" args="$(arg tag_trans) ar_10_up item_10 100"/> <node pkg="tf" type="static_transform_publisher" name="item_11" args="$(arg tag_trans) ar_11_up item_11 100"/> </launch>

-when launch this file, then appear this err message

... logging to /home/ho/.ros/log/da9b7b56-1299-11e7-83ee-000c29c6431a/roslaunch-ubuntu-51819.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

Invalid roslaunch XML syntax: mismatched tag: line 38, column 2 The traceback for the exception was written to the log file


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answered 2017-03-27 02:45:55 -0500

The tags for the tag_rot and tag_trans don't have a / at the end: ... default="0 -0.28 -0.1 0 0 0" />

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Asked: 2017-03-26 22:10:25 -0500

Seen: 96 times

Last updated: Mar 27 '17